Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 101)

4 Operation
4.2.8 Stopping Servomotor after Receiving Servo OFF Command or Alarm Occurrence
4-18
4.2.8 Stopping Servomotor after Receiving Servo OFF Command or Alarm
Occurrence
The stopping method can be selected after the servo OFF command is received or an alarm occurs.
(1) Stopping Method for Servomotor After Servo OFF Command is Received
Use Pn001.0 to select the stopping method for the servomotor after the servo OFF command is received.
Note: Similar to the Coast Mode, the n. 0 setting (which stops the servomotor by dynamic braking and then holds it
in Dynamic Brake Mode) does not generate any braking force when the servomotor stops or when it rotates at very
low speed.
• Dynamic braking (DB) is used for emergency stops. The DB circuit will operate fre-
quently if the power is turned ON and OFF with a reference input applied, which may
result in deterioration of the internal elements in the SERVOPACK.
Use speed input references or position references to start and stop the servomotor.
• If the main circuit power supply (L1, L2, and L3) or the control power supply (L1C,
L2C or 24V, 0V depending on the SERVOPACK model) is turned OFF before the
servo OFF command is received, the stopping method for servomotor cannot be set
by parameters.
If turning OFF the main circuit power supply before the servo OFF command is
received, the servomotor will be stopped by dynamic braking.
If turning OFF the control power supply before the servo OFF command is
received, the stopping method will vary with the SERVOPACK model. Two stop-
ping methods are available.
• Coasting
Applicable models: SGDV-330A, 470A, 550A, 590A, 780A, 280D, 370D
• Dynamic braking
Applicable models: All SERVOPACKs other than those listed for coasting.
• If the servomotor must be stopped during operation by coasting rather than by
dynamic braking when the main circuit power supply or the control power supply is
OFF, arrange the sequence externally so the current will be cut off for wires U, V, and
W.
• To minimize the coasting distance of the motor to come to a stop, the zero-speed
stopping method is factory-set for alarms to which the zero-speed stop method is
applicable. The DB stopping method may be more suitable than the zero-speed stop-
ping method, however, depending on the application. Change the method to the DB
stopping method as required by the application.
For example, for multiple axes coupling operation (a twin-drive operation), machinery
damage may result if a zero-speed stop alarm occurs for one of the coupled shafts
and the other shaft stops by dynamic brake. In such cases, change the method to the
DB stopping method.
Parameter Stop Mode
Mode After
Stopping
Meaning When Enabled Classification
Pn001
n. 0
Stop by
dynamic
brake
Dynamic
Brake
Stops the servomotor by
dynamic braking (DB), then
holds it in Dynamic Brake
Mode. [Factory setting]
After restart Setup
n. 1 Coast
Stops the servomotor by
dynamic braking (DB), then
places it into Coast Mode.
n. 2 Coast to a
stop
Coast
Stops the servomotor by coast-
ing, and continues in Coast
Mode.